Revision 24:fc01d9125d3b, committed 2014-02-28

Comitter:

DavidEGrayson

Date:

Fri Feb 28 01:07:14 2014 +0000

Parent:

23:aae5cbe3b924

Child:

25:73c2eedb3b91

Commit message:

Fixed the problem with LineTracker always thinking the line was visible.

Changed in this revision

--- a/line_tracker.cpp	Fri Feb 28 00:23:00 2014 +0000
+++ b/line_tracker.cpp	Fri Feb 28 01:07:14 2014 +0000
@@ -59,11 +59,12 @@
     uint32_t avg = 0;
     uint32_t sum = 0;
     
+    lineVisible = false;
     for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++)
     {
         // keep track of whether we see the line at all
         uint16_t value = calibratedValues[s];
-        if (value > 200)
+        if (value > 500)
         {
             lineVisible = true;
         }

--- a/main.cpp	Fri Feb 28 00:23:00 2014 +0000
+++ b/main.cpp	Fri Feb 28 01:07:14 2014 +0000
@@ -145,11 +145,68 @@
     reckoner.reset();
 }
 
+// Keep the robot pointing the in the right direction (1, 0).
+// This should basically keep it going straight.
+void updateMotorsToDriveStraight()
+{
+    const int32_t straightDriveStrength = 1000;
+    int16_t speedLeft = drivingSpeed;
+    int16_t speedRight = drivingSpeed;
+    int32_t reduction = reckoner.sin / (1<<15) * straightDriveStrength / (1 << 15);
+    if (reduction > 0)
+    {
+        speedRight = reduceSpeed(speedRight, reduction);
+    }
+    else
+    {
+        speedLeft = reduceSpeed(speedLeft, -reduction);
+    }
+    motorsSpeedSet(speedLeft, speedRight);   
+}
+
+void loadCalibrationAndFindLine()
+{
+    lineTracker.calibratedMinimum[0] = 34872;
+    lineTracker.calibratedMinimum[1] = 29335;
+    lineTracker.calibratedMinimum[2] = 23845;
+    lineTracker.calibratedMaximum[0] = 59726;
+    lineTracker.calibratedMaximum[1] = 60110;
+    lineTracker.calibratedMaximum[2] = 58446;
+    
+    Timer foundLineTimer;
+    foundLineTimer.start();
+    bool foundLine = false;
+    
+    GeneralDebouncer lineStatus(10000);
+    while(1)
+    {
+        lineTracker.read();
+        lineTracker.updateCalibration();       
+        updateReckonerFromEncoders();
+        updateMotorsToDriveStraight();        
+        lineStatus.update(lineTracker.getLineVisible());       
+
+        if (foundLine)
+        {
+            if(foundLineTimer.read_ms() >= 500)
+            {
+                // We found the line and traveled for a bit more, so now we can be done.
+                break;
+            }
+        }
+        else
+        {
+            if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 150000)
+            {
+                foundLine = true;
+                foundLineTimer.start();
+            }
+        }
+    }
+}
 
 void findLineAndCalibrate()
 {
-    const int32_t straightDriveStrength = 1000;
-    
     Timer timer;
     timer.start();
     
@@ -160,21 +217,8 @@
     {
         lineTracker.read();
         lineTracker.updateCalibration();       
-        updateReckonerFromEncoders();
-        
-        // Keep the robot pointing the in the right direction.  This should basically keep it going straight.
-        int16_t speedLeft = drivingSpeed;
-        int16_t speedRight = drivingSpeed;
-        int32_t reduction = reckoner.sin / (1<<15) * straightDriveStrength / (1 << 15);
-        if (reduction > 0)
-        {
-            speedRight = reduceSpeed(speedRight, reduction);
-        }
-        else
-        {
-            speedLeft = reduceSpeed(speedLeft, -reduction);
-        }
-        motorsSpeedSet(speedLeft, speedRight);
+        updateReckonerFromEncoders();        
+        updateMotorsToDriveStraight();
         
         if (goodCalibration)
         {

--- a/main.h	Fri Feb 28 00:23:00 2014 +0000
+++ b/main.h	Fri Feb 28 01:07:14 2014 +0000
@@ -4,7 +4,7 @@
 #include "line_tracker.h"
 
 void waitForSignalToStart();
-void findLineAndCalibrate();
+void findLineAndCalibrate(); void loadCalibrationAndFindLine();  // two alternatives
 void turnRightToFindLine();
 void followLineToEnd();
 void driveHomeAlmost();

--- a/test.cpp	Fri Feb 28 00:23:00 2014 +0000
+++ b/test.cpp	Fri Feb 28 01:07:14 2014 +0000
@@ -107,11 +107,12 @@
     }
 }
 
-// If the calibration stops working, we could just use these values from David's office in the day time:
+// Values from David's office     Values from dev lab,
+// in the day time, 2014-02-27:   2014-02-27:
 // #  calmin calmax
-// 0  34872 59726
-// 1  29335 60110
-// 2  23845 58446
+// 0  34872 59726                 0  40617 60222
+// 1  29335 60110                 1  36937 61198
+// 2  23845 58446                 2  33848 58862
 void testCalibrate()
 {
     Timer timer;
@@ -119,11 +120,26 @@
     
     Pacer reportPacer(200000);
     
+    bool doneCalibrating = false;
+    
+    led1 = 1;
+    
     while(1)
     {
         lineTracker.read();
-        lineTracker.updateCalibration();
-        led4 = calibrationLooksGood();
+        if(!doneCalibrating)
+        {
+            lineTracker.updateCalibration();
+        }
+
+        led2 = calibrationLooksGood();
+        led3 = doneCalibrating;
+        led4 = lineTracker.getLineVisible();
+        
+        if (button1DefinitelyPressed())
+        {
+            doneCalibrating = true;
+        }
         
         if (reportPacer.pace())
         {